Re: EMC Bug???
Les Watts wrote:
> Jon, I have been running a lot of contouring carved sign code
> with lots of g2 and g3 moves and have not noted any problems.
> In fact some of the code generated by the cam program has
> more short g1 point to point moves than I would like... it can
> get a little choppy. Of course I am running at high speeds and
> accelerations.
>
> But if you have some code that demonstrates a quirk-
> yes I would like to run it and see.
I now have gotten a better handle on the problem. This is the program I
have been using as a test.
N10 G01 G64 F20.000 X4.8750 Y1.2500
N20 F3.333 Z-0.0650
N30 F20.000 X4.8875
N40 G03 X4.8750 Y1.2625 R0.0125
N50 X4.8500 Y1.2500 R0.0156
N60 X4.8750 Y1.2125 R0.0271
N70 X4.9250 Y1.2500 R0.0391
N80 X4.8750 Y1.3125 R0.0513
N90 X4.8000 Y1.2500 R0.0635
N100 X4.8750 Y1.1625 R0.0759
N110 X4.9750 Y1.2500 R0.0883
N120 X4.8750 Y1.3625 R0.1007
N130 X4.7500 Y1.2500 R0.1131
N140 X4.8750 Y1.1125 R0.1256
N150 X5.0250 Y1.2500 R0.1380
N160 X4.8750 Y1.4125 R0.1505
N170 X4.7000 Y1.2500 R0.1629
N180 X4.8750 Y1.0625 R0.1754
N190 X5.0750 Y1.2500 R0.1879
N200 X4.8750 Y1.4625 R0.2004
N210 X4.6500 Y1.2500 R0.2128
N220 X4.8750 Y1.0125 R0.2253
N230 F15.000
N240 X5.1190 Y1.2500 R0.2440
N250 X4.8750 Y1.4940 R0.2440
N260 X4.6310 Y1.2500 R0.2440
N270 X4.8750 Y1.0060 R0.2440
N280 X5.1190 Y1.2500 R0.2440
N290 G01 X4.8750Y1.2500
N300 G01 F50 Z0.1
N310 M02
It bores a rough expanding spiral, so maybe that is the quirk that triggers
something in the trajectory planning. But, it seems that the final finish
orbit shows the same behavior. I was comparing logging plots between
the default.run using steppermod.o, and my univstep.o code.
What I noticed was that default.ini used the default acceleration value of
20.0,
while I used 2.0, as this is what I use in my servo-driven machine. And, I
noticed that the velocity variation was not seen with steppermod with the
20.0 In/Sec^2 acceleration. So, I set my acceleration to 20.0, and the
velocity fluctuation was reduced to a minute blip. But, of course, real
milling machines can't accelerate at 20 in/sec^2.
Anyway, there is apparently a bug in the lookahead smoothing code. It is
clearly visible in the trajectory velocity plot. There should be no need to
slow
down at the point where one axis slows to nearly zero and reverses, and the
other
axis accelerates rather gradually to 20 IPM, and then starts very gradually
to slow down. This is nowhere near the max velocity, and the acceleration at
this point (for both axes) is quite gradual.
Anyone have any ideas?
Thanks,
Jon
Here's the data file from the trajectory velocity plot :
(I hope everybody won't get too mad about including such a large file)
#!/bin/sh
exec cat $0 | head -n 16 | tail -n 12 | sed s#THIS_PLOT_FILE#$0#g | gnuplot
-persist
exit
# This file contains both the gnuplot plotting instructions
# and the data logged, by EMC.
# For this to work, the data must begin after 2 blank lines,
# and the line "exit" must appear before the data.
# (lines beginning with "#" are ignored.)
print "Running THIS_PLOT_FILE . . .\n"
print "Plotting all traj velocities . . .\n"
plot "THIS_PLOT_FILE" index 1 using 1:2 title "X Velocity", "THIS_PLOT_FILE"
index 1 using 1:3 title "Y Velocity", "THIS_PLOT_FILE" index 1 using 1:4 title
"Z Velocity", "THIS_PLOT_FILE" index 1 using 1:5 title "Velocity Magnitude"
exit
# time Xvel
Yvel Zvel VelMag
0.0000000000e+00 -1.0138972672e-01 -3.1753909893e-01
0.0000000000e+00 3.3333310072e-01
1.9134720001e-03 -1.0008935561e-01 -3.1795137510e-01
0.0000000000e+00 3.3333310072e-01
3.8239040000e-03 -9.8787308161e-02 -3.1835832607e-01
0.0000000000e+00 3.3333310072e-01
5.7311360001e-03 -9.7483606175e-02 -3.1875994504e-01
0.0000000000e+00 3.3333310072e-01
7.6426240003e-03 -9.6178271490e-02 -3.1915622527e-01
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